相关论文: High-fidelity 3D reconstruction for planetary expl…

Astronomical observations, physical experiments as well as computer simulations often involve discrete data sets supposed to represent a fair sample of an underlying smooth and continuous field. Reconstructing the underlying fields from a…

This study presents a novel approach for generating holograms based on the neural radiance fields (NeRF) technique. Generating three-dimensional (3D) data is difficult in hologram computation. NeRF is a state-of-the-art technique for 3D…

Inverse rendering aims at recovering both geometry and materials of objects. It provides a more compatible reconstruction for conventional rendering engines, compared with the neural radiance fields (NeRFs). On the other hand, existing…

This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…

3D reconstruction from a single 2D image was extensively covered in the literature but relies on depth supervision at training time, which limits its applicability. To relax the dependence to depth we propose SceneRF, a self-supervised…

In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…

The proliferation of non-cooperative resident space objects (RSOs) in orbit has spurred the demand for active space debris removal, on-orbit servicing (OOS), classification, and functionality identification of these RSOs. Recent advances in…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

Learning surfaces from neural radiance field (NeRF) became a rising topic in Multi-View Stereo (MVS). Recent Signed Distance Function (SDF)-based methods demonstrated their ability to reconstruct accurate 3D shapes of Lambertian scenes.…

Creating high-quality controllable 3D human models from multi-view RGB videos poses a significant challenge. Neural radiance fields (NeRFs) have demonstrated remarkable quality in reconstructing and free-viewpoint rendering of static as…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…

In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…

High-fidelity sensor simulation of light-based sensors such as cameras and LiDARs is critical for safe and accurate autonomy testing. Neural radiance field (NeRF)-based methods that reconstruct sensor observations via ray-casting of…

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…

This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…

Drones have become essential tools for reconstructing wild scenes due to their outstanding maneuverability. Recent advances in radiance field methods have achieved remarkable rendering quality, providing a new avenue for 3D reconstruction…

We present NeuralLabeling, a labeling approach and toolset for annotating 3D scenes using either bounding boxes or meshes and generating segmentation masks, affordance maps, 2D bounding boxes, 3D bounding boxes, 6DOF object poses, depth…

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…